[openrtm-commit:01134] r104 - in branches/newCMakeForVC2010/ImageProcessing/opencv/components: . ImageSubstraction/include/ImageSubstraction ImageSubstraction/src RockPaperScissors RockPaperScissors/include RockPaperScissors/include/RockPaperScissors RockPaperScissors/src
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openrtm ＠ openrtm.org
2013年 11月 29日 (金) 15:24:42 JST
Author: kawauchi
Date: 2013-11-29 15:24:42 +0900 (Fri, 29 Nov 2013)
New Revision: 104
Removed:
branches/newCMakeForVC2010/ImageProcessing/opencv/components/Houghline/
Modified:
branches/newCMakeForVC2010/ImageProcessing/opencv/components/ImageSubstraction/include/ImageSubstraction/ImageSubstraction.h
branches/newCMakeForVC2010/ImageProcessing/opencv/components/ImageSubstraction/src/ImageSubstraction.cpp
branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/RockPaperScissors.conf
branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/include/LabellingW.h
branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/include/RockPaperScissors/RockPaperScissors.h
branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/src/RockPaperScissors.cpp
Log:
For replacement, remove Hough component . refs #2704
Modified: branches/newCMakeForVC2010/ImageProcessing/opencv/components/ImageSubstraction/include/ImageSubstraction/ImageSubstraction.h
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/ImageSubstraction/include/ImageSubstraction/ImageSubstraction.h 2013-11-14 07:48:22 UTC (rev 103)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/ImageSubstraction/include/ImageSubstraction/ImageSubstraction.h 2013-11-29 06:24:42 UTC (rev 104)
@@ -24,9 +24,7 @@
#include <highgui.h>
#define NUM_OF_BACKGROUND_FRAMES 50 // ”wŒiƒ‚ƒfƒ‹‚𶬂·‚é‚Ì‚ÉŽg—p‚·‚é‰æ‘œ‚Ì–‡”
-#define THRESHOLD_COEFFICIENT 5.0 // 臒l‚ðŒˆ‚ß‚éÛ‚ÉŽg—p‚·‚é•W€•Î·‚É‚©‚¯‚é”
-#define CONSTANT_THRESHOLD 20 // ‰æ‘œ‚Å1‚‚Ì臒l‚ðŽg‚¤Û‚Ì臒l
#define CONSTANT_MODE 0 // ‰æ‘œ‘S‘Ì‚Å1‚‚Ì臒l‚ð—p‚¢‚éƒtƒ‰ƒO’l
#define DYNAMIC_MODE 1 // ‰æ‘f‚²‚Æ‚É臒l‚ðÝ‚¯‚éƒtƒ‰ƒO’l
@@ -236,6 +234,12 @@
// <rtc-template block="config_declare">
/*!
*
+ * - Name: cont_mode
+ * - DefaultValue: b
+ */
+ char m_cont_mode;
+ /*!
+ *
* - Name: img_height
* - DefaultValue: 240
*/
@@ -246,7 +250,19 @@
* - DefaultValue: 320
*/
int m_img_width;
-
+ /*!
+ *
+ * - Name: thre_coefficient
+ * - DefaultValue: 5.0
+ */
+ double m_thre_coefficient;
+ /*!
+ *
+ * - Name: constant_thre
+ * - DefaultValue: 20
+ */
+ int m_constant_thre;
+
// </rtc-template>
// DataInPort declaration
Modified: branches/newCMakeForVC2010/ImageProcessing/opencv/components/ImageSubstraction/src/ImageSubstraction.cpp
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/ImageSubstraction/src/ImageSubstraction.cpp 2013-11-14 07:48:22 UTC (rev 103)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/ImageSubstraction/src/ImageSubstraction.cpp 2013-11-29 06:24:42 UTC (rev 104)
@@ -25,19 +25,26 @@
"language", "C++",
"lang_type", "compile",
// Configuration variables
+ "conf.default.control_mode", "b",
"conf.default.image_height", "240",
"conf.default.image_width", "320",
+ "conf.default.threshold_coefficient", "5.0",
+ "conf.default.constant_threshold", "20",
// Widget
+ "conf.__widget__.control_mode", "radio",
"conf.__widget__.image_height", "text",
"conf.__widget__.image_width", "text",
+ "conf.__widget__.threshold_coefficient", "text",
+ "conf.__widget__.constant_threshold", "slider.1",
// Constraints
+ "conf.__constraints__.control_mode", "(b,m)",
+ "conf.__constraints__.constant_threshold", "0<=x<=255",
""
};
// </rtc-template>
int ImageSubstraction_count = 0;
-int key; // ƒL[“ü—Í—p‚Ì•Ï”
-int mode = 0; // 0: ‰æ‘f‚²‚ƂɈقȂé臒l / 1: ‰æ‘œ‘S‘̂ňê‚‚Ì臒l
+int mode = DYNAMIC_MODE; // DYNAMIC_MODE: ‰æ‘f‚²‚ƂɈقȂé臒l / CONSTANT_MODE: ‰æ‘œ‘S‘̂ňê‚‚Ì臒l
int g_temp_w = 0;
int g_temp_h = 0;
@@ -46,9 +53,9 @@
//char *windowNameBackground = "Background"; // ”wŒi‰æ‘œ‚ð•\Ž¦‚·‚éƒEƒBƒ“ƒhƒE‚Ì–¼‘O
//char *windowNameThreshold = "Threshold"; // 臒l‚ð•\Ž¦‚·‚éƒEƒBƒ“ƒhƒE‚Ì–¼‘O
-char *mode_str[2] = {
- "‰æ‘f’PˆÊ",
- "‰æ‘œ‚ňê‚Â"
+std::string mode_str[2] = {
+ "DYNAMIC_MODE", //‰æ‘f’PˆÊ
+ "CONSTANT_MODE" //‰æ‘œ‚ňê‚Â
};
IplImage *backgroundAverageImage = NULL; // ”wŒi‚Ì•½‹Ï’l•Û‘¶—pIplImage
@@ -83,7 +90,7 @@
// num : ”wŒiƒ‚ƒfƒ‹‚𶬂·‚é‚Ì‚ÉŽg—p‚·‚é‰æ‘œ‚Ì–‡”
// size : ‰æ‘œƒTƒCƒY
//
-void initializeBackgroundModel( int num, CvSize size ){
+void initializeBackgroundModel( int num, CvSize size, double thre_coefficient ){
int i;
// ˆÈ‘O‚Ì”wŒiî•ñ‚ª‚ ‚ê‚ΔjŠü
@@ -103,15 +110,15 @@
cvSetZero( acc2 );
// ‰æ‘œî•ñ‚Ì’~Ï
- printf( "”wŒiŽæ“¾’†...\n" );
+ printf( "Getting background...\n" ); //”wŒiŽæ“¾’†
//IplImage *frameImage;
for( i = 0; i < num; i++ ){
//frameImage = cvQueryFrame( capture );
cvAcc( originalImage, acc );
cvSquareAcc( originalImage, acc2 );
- printf( "%d –‡’† %d –‡–Ú\n", num, i + 1 );
+ printf( "%d / %d image\n", i + 1, num );
}
- printf( "”wŒiŽæ“¾Š®—¹\n" );
+ printf( "Completion!\n" ); //”wŒiŽæ“¾Š®—¹
// cvAddS, cvSubS ‚Í‚ ‚邪 cvMulS ‚Í‚È‚¢‚Ì‚ÅAcvConvertScale ‚ðŽg‚¤
cvConvertScale( acc, acc, 1.0 / num ); // •½‹Ï
@@ -132,7 +139,7 @@
// 臒l‚ðŒvŽZ‚·‚é
backgroundThresholdImage = cvCreateImage( size, IPL_DEPTH_8U, 3 );
- cvConvertScale( sd, backgroundThresholdImage, THRESHOLD_COEFFICIENT );
+ cvConvertScale( sd, backgroundThresholdImage, thre_coefficient );
// ƒƒ‚ƒŠ‚ð‰ð•ú‚·‚é
cvReleaseImage( &acc );
@@ -149,7 +156,7 @@
// <rtc-template block="initializer">
: RTC::DataFlowComponentBase(manager),
m_img_origIn("original_image", m_img_orig),
- m_keyIn("Key", m_key),
+ m_keyIn("Key", m_key),
m_img_captureOut("capture_image", m_img_capture),
m_img_resultOut("result_image", m_img_result),
m_img_backOut("back_image", m_img_back),
@@ -192,8 +199,11 @@
// <rtc-template block="bind_config">
// Bind variables and configuration variable
+ bindParameter("control_mode", m_cont_mode, "b");
bindParameter("image_height", m_img_height, "240");
bindParameter("image_width", m_img_width, "320");
+ bindParameter("threshold_coefficient", m_thre_coefficient, "5.0");
+ bindParameter("constant_threshold", m_constant_thre, "20");
// </rtc-template>
return RTC::RTC_OK;
@@ -231,6 +241,9 @@
outputImage = NULL;
resultImage = NULL;
differenceImage = NULL;
+
+ //臒l‚̉ŠúÝ’è‚ð•\Ž¦
+ printf( "threshold: %s\n", mode_str[1-mode].c_str() );
return RTC::RTC_OK;
}
@@ -258,7 +271,23 @@
RTC::ReturnCode_t ImageSubstraction::onExecute(RTC::UniqueId ec_id)
{
-
+ // ƒL[“ü—Í”»’è
+ if(m_keyIn.isNew()){
+ m_keyIn.read();
+
+ if( m_cont_mode == 'b' ){
+ // 'b'ƒL[‚ª‰Ÿ‚³‚ꂽ‚ç‚»‚ÌŽž“_‚ł̉摜‚ð”wŒi‰æ‘œ‚Æ‚·‚é
+ initializeBackgroundModel( NUM_OF_BACKGROUND_FRAMES, cvSize(m_img_width, m_img_height), m_thre_coefficient);
+
+ printf( "Background image update\n" ); //”wŒiî•ñXV
+
+ } else if( m_cont_mode == 'm' ){
+ // 'm'ƒL[‚ª‰Ÿ‚³‚ꂽ‚ç臒l‚ÌÝ’è•û–@‚ð•ÏX‚·‚é
+ mode = 1 - mode;
+ printf( "threshold: %s\n", mode_str[mode].c_str() );
+ }
+ }
+
//‰Šú’l‚ðŽæ“¾‚·‚éB
if(ImageSubstraction_count == 0 && m_img_origIn.isNew()) {
@@ -295,7 +324,7 @@
resultImage = cvCreateImage(cvSize(m_img_orig.width, m_img_orig.height),IPL_DEPTH_8U, 1);
}
- initializeBackgroundModel( NUM_OF_BACKGROUND_FRAMES, cvSize(m_img_orig.width, m_img_orig.height) );
+ initializeBackgroundModel( NUM_OF_BACKGROUND_FRAMES, cvSize(m_img_orig.width, m_img_orig.height) , m_thre_coefficient);
ImageSubstraction_count = 1;
g_temp_w = m_img_orig.width;
@@ -325,21 +354,16 @@
outputImage = cvCreateImage(cvSize(m_img_orig.width, m_img_orig.height), IPL_DEPTH_8U, 3);
}
- if(m_keyIn.isNew()) {
- m_keyIn.read();
- key = (int)m_key.data;
- }
-
memcpy(originalImage->imageData,(void *)&(m_img_orig.pixels[0]), m_img_orig.pixels.length());
// Œ»Ý‚Ì”wŒi‚Æ‚Ì·‚Ìâ‘Î’l‚𬕪‚²‚Æ‚ÉŽæ‚é
cvAbsDiff( originalImage, backgroundAverageImage, differenceImage );
// Sub ‚̓}ƒCƒiƒX‚É‚È‚Á‚½‚ç0‚ÉØ‚è‹l‚ß‚Ä‚‚ê‚é
- if( mode == 0 ){
+ if( mode == DYNAMIC_MODE ){
cvSub( differenceImage, backgroundThresholdImage, differenceImage );
} else{
- cvSubS( differenceImage, cvScalarAll( CONSTANT_THRESHOLD ), differenceImage );
+ cvSubS( differenceImage, cvScalarAll( m_constant_thre ), differenceImage );
}
// differenceImage ‚Ì—v‘f‚ª1‚‚łà0ˆÈゾ‚Á‚½‚ç‘OŒi
@@ -395,26 +419,10 @@
m_img_thresholdOut.write();
cvReleaseImage( &tmp );
- // ƒL[“ü—Í”»’è
- cvWaitKey( 1 );
- //key = (int)m_key.data;
- if( key == 'b' ){
- // 'b'ƒL[‚ª‰Ÿ‚³‚ꂽ‚ç‚»‚ÌŽž“_‚ł̉摜‚ð”wŒi‰æ‘œ‚Æ‚·‚é
- initializeBackgroundModel( NUM_OF_BACKGROUND_FRAMES, cvSize(m_img_width, m_img_height));
-
- printf( "”wŒiî•ñXV\n" );
-
- } else if( key == 'm' ){
- // 'm'ƒL[‚ª‰Ÿ‚³‚ꂽ‚ç臒l‚ÌÝ’è•û–@‚ð•ÏX‚·‚é
- mode = 1 - mode;
- printf( "臒l: %s\n", mode_str[mode] );
- }
-
cvReleaseImage(&originalImage);
cvReleaseImage(&outputImage);
- key = '0';
g_temp_w = m_img_orig.width;
g_temp_h = m_img_orig.height;
Modified: branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/RockPaperScissors.conf
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/RockPaperScissors.conf 2013-11-14 07:48:22 UTC (rev 103)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/RockPaperScissors.conf 2013-11-29 06:24:42 UTC (rev 104)
@@ -130,5 +130,5 @@
##
## The execution cycle of ExecutionContext
##
-exec_cxt.periodic.rate:1000.0
+exec_cxt.periodic.rate:2000.0
Modified: branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/include/LabellingW.h
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/include/LabellingW.h 2013-11-14 07:48:22 UTC (rev 103)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/include/LabellingW.h 2013-11-29 06:24:42 UTC (rev 104)
@@ -8,7 +8,7 @@
#include "Labeling.h"
#define Label LabelingBS
-/*
+
Label *createLabeling(){
return new LabelingBS();
}
@@ -26,5 +26,6 @@
void releaseLabeling(Label *label){
delete label;
}
-*/
-#endif LABELINGW_H
\ No newline at end of file
+
+#endif //LABELINGW_H
+
Modified: branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/include/RockPaperScissors/RockPaperScissors.h
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/include/RockPaperScissors/RockPaperScissors.h 2013-11-14 07:48:22 UTC (rev 103)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/include/RockPaperScissors/RockPaperScissors.h 2013-11-29 06:24:42 UTC (rev 104)
@@ -19,33 +19,24 @@
#include <rtm/idl/ExtendedDataTypesSkel.h>
#include <rtm/idl/InterfaceDataTypesSkel.h>
-// OpenCVHeadƒtƒ@ƒCƒ‹‚ÌIncluding
+// OpenCVHeadファイルã®Including
#include <cv.h>
#include <cxcore.h>
#include <highgui.h>
-#include "LabellingW.h"
+#include <string>
+#include "Labeling.h"
-#define ITERATIONS 4 // –c’£AŽûk‚̉ñ”
+//肌色抽出用閾値
+#define HMAX 20 // H値ã®ä¸Šé™ã®é–¾å€¤
+#define HMIN 0 // H値ã®ä¸‹é™ã®é–¾å€¤
+#define SMAX 255*1 // S値ã®ä¸Šé™ã®é–¾å€¤
+#define SMIN 255*0.2 // S値ã®ä¸‹é™ã®é–¾å€¤
+#define VMAX 255*1.0 // V値ã®ä¸Šé™ã®é–¾å€¤
+#define VMIN 255*0 // V値ã®ä¸‹é™ã®é–¾å€¤
-//”§F’Šo—p臒l
-#define HMAX 20 // H’l‚ÌãŒÀ‚Ì臒l
-#define HMIN 0 // H’l‚̉ºŒÀ‚Ì臒l
-#define SMAX 255*1 // S’l‚ÌãŒÀ‚Ì臒l
-#define SMIN 255*0.2 // S’l‚̉ºŒÀ‚Ì臒l
-#define VMAX 255*1.0 // V’l‚ÌãŒÀ‚Ì臒l
-#define VMIN 255*0 // V’l‚̉ºŒÀ‚Ì臒l
+#define IGNORE_SIZE 1000 //無視ã™ã‚‹é ˜åŸŸã‚µã‚¤ã‚º(ラベリング用)
-//ƒWƒƒƒ“ƒPƒ“”»’è—p臒l
-#define ROCKMAX 1.0 // ƒO[‚Æ”»’è‚·‚éãŒÀ‚Ì臒l
-#define ROCKMIN 0.85 // ƒO[‚Æ”»’è‚·‚鉺ŒÀ‚Ì臒l
-#define SCISSORMAX 0.85 // ƒ`ƒ‡ƒL‚Æ”»’è‚·‚éãŒÀ‚Ì臒l
-#define SCISSORMIN 0.7 // ƒ`ƒ‡ƒL‚Æ”»’è‚·‚鉺ŒÀ‚Ì臒l
-#define PAPERMAX 0.7 // ƒp[‚Æ”»’è‚·‚éãŒÀ‚Ì臒l
-#define PAPERMIN 0.5 // ƒp[‚Æ”»’è‚·‚鉺ŒÀ‚Ì臒l
-
-#define IGNORE_SIZE 1000 //–³Ž‹‚·‚é—̈æƒTƒCƒY(ƒ‰ƒxƒŠƒ“ƒO—p)
-
// Service implementation headers
// <rtc-template block="service_impl_h">
@@ -252,18 +243,48 @@
// <rtc-template block="config_declare">
/*!
*
- * - Name: img_height
- * - DefaultValue: 240
+ * - Name: rock_max
+ * - DefaultValue: 1.0
*/
- int m_img_height;
+ double m_rock_max;
/*!
*
- * - Name: img_width
- * - DefaultValue: 320
+ * - Name: rock_min
+ * - DefaultValue: 0.85
*/
- int m_img_width;
+ double m_rock_min;
/*!
*
+ * - Name: scissor_max
+ * - DefaultValue: 0.85
+ */
+ double m_scissor_max;
+ /*!
+ *
+ * - Name: scissor_min
+ * - DefaultValue: 0.7
+ */
+ double m_scissor_min;
+ /*!
+ *
+ * - Name: paper_max
+ * - DefaultValue: 0.7
+ */
+ double m_paper_max;
+ /*!
+ *
+ * - Name: paper_min
+ * - DefaultValue: 0.5
+ */
+ double m_paper_min;
+ /*!
+ *
+ * - Name: iterations
+ * - DefaultValue: 4
+ */
+ int m_iterations;
+ /*!
+ *
* - Name: out_mode
* - DefaultValue: 1
*/
@@ -288,6 +309,11 @@
*/
OutPort<RTC::CameraImage> m_img_outputOut;
+ RTC::TimedString m_result;
+ /*!
+ */
+ OutPort<RTC::TimedString> m_resultOut;
+
// </rtc-template>
// CORBA Port declaration
@@ -313,7 +339,18 @@
// <rtc-template block="private_operation">
// </rtc-template>
+
+ void extractSkinColor( void );
+ void interpolate( void );
+ int pickupMaxArea( void );
+ void createConvexHull( int handarea, CvPoint **handpoint, int **hull,
+ CvMat *pointMatrix, CvMat *hullMatrix );
+ void drawConvexHull( CvPoint *handpoint, int *hull, int hullcount );
+ int calcConvexHullArea( CvPoint *handpoint, int *hull, int hullcount );
+ void decide( int handarea, int hullarea );
+
int dummy;
+ std::string m_prev_judge; //å‰å›žã®åˆ¤å®šã€€ã‚°ãƒ¼ / ãƒãƒ§ã‚ / パー
IplImage* m_frame_image;
IplImage* m_image_buff;
Modified: branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/src/RockPaperScissors.cpp
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/src/RockPaperScissors.cpp 2013-11-14 07:48:22 UTC (rev 103)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/RockPaperScissors/src/RockPaperScissors.cpp 2013-11-29 06:24:42 UTC (rev 104)
@@ -8,10 +8,10 @@
*/
#include "RockPaperScissors.h"
+#define Label LabelingBS
using namespace std;
-
CvCapture *capture = NULL;
// Module specification
@@ -30,14 +30,31 @@
"language", "C++",
"lang_type", "compile",
// Configuration variables
- "conf.default.image_height", "240",
- "conf.default.image_width", "320",
+ "conf.default.rock_max", "1.0",
+ "conf.default.rock_min", "0.85",
+ "conf.default.scissor_max", "0.85",
+ "conf.default.scissor_min", "0.7",
+ "conf.default.paper_max", "0.7",
+ "conf.default.paper_min", "0.5",
+ "conf.default.iterations", "4",
"conf.default.out_mode", "1",
// Widget
- "conf.__widget__.image_height", "text",
- "conf.__widget__.image_width", "text",
- "conf.__widget__.out_mode", "text",
+ "conf.__widget__.rock_max", "text",
+ "conf.__widget__.rock_min", "text",
+ "conf.__widget__.scissor_max", "text",
+ "conf.__widget__.scissor_min", "text",
+ "conf.__widget__.paper_max", "text",
+ "conf.__widget__.paper_min", "text",
+ "conf.__widget__.iterations", "text",
+ "conf.__widget__.out_mode", "radio",
// Constraints
+ "conf.__constraints__.rock_max", "0<=x<=1.0",
+ "conf.__constraints__.rock_min", "0<=x<=1.0",
+ "conf.__constraints__.scissor_max", "0<=x<=1.0",
+ "conf.__constraints__.scissor_min", "0<=x<=1.0",
+ "conf.__constraints__.paper_max", "0<=x<=1.0",
+ "conf.__constraints__.paper_min", "0<=x<=1.0",
+ "conf.__constraints__.out_mode", "(0,1)",
""
};
// </rtc-template>
@@ -60,200 +77,6 @@
delete label;
}
- //
- // ”§F‚ð’Šo‚·‚é
- //
- // ˆø”:
- // frameImage : ƒLƒƒƒvƒ`ƒƒ‚µ‚½‰æ‘œ—pIplImage
- // hsvImage : HSV‰æ‘œ—pIplImage
- // skinImage : ”§F’Šo‰æ‘œ—pIplImage
- //
-void extractSkinColor( IplImage *frameImage, IplImage *hsvImage, IplImage *skinImage ) {
- CvScalar color; // HSV•\FŒn‚Å•\‚µ‚½F
- unsigned char h; // H¬•ª
- unsigned char s; // S¬•ª
- unsigned char v; // V¬•ª
-
- // BGR‚©‚çHSV‚É•ÏŠ·‚·‚é
-
- cvCvtColor( frameImage, hsvImage, CV_BGR2HSV );
-
- //”§F’Šo
- for( int x = 0; x < skinImage->width; x++ ) {
- for( int y = 0 ; y < skinImage->height; y++ ) {
-
- color = cvGet2D( hsvImage, y, x );
- h = color.val[0];
- s = color.val[1];
- v = color.val[2];
-
- if( h <= HMAX && h >= HMIN &&
- s <= SMAX && s >= SMIN &&
- v <= VMAX && v >= VMIN ) {
- // ”§F‚Ìê‡
- cvSetReal2D( skinImage, y, x, 255 );
- } else {
- cvSetReal2D( skinImage, y, x, 0 );
- }
- }
- }
-}
-
- //
- // Œ‡‘¹—̈æ‚ð•âŠÔ‚·‚é
- //
- // ˆø”:
- // skinImage : ”§F’Šo‰æ‘œ—pIplImage
- // temp : ˆêŽž•Û‘¶—pIplImage
- //
-void interpolate( IplImage *skinImage, IplImage *temp ) {
- //–c’£‚ðITERATIONS‰ñs‚¤
- cvDilate( skinImage, temp, NULL, ITERATIONS );
-
- //Žûk‚ðITERATIONS‰ñs‚¤
- cvErode( temp, skinImage, NULL, ITERATIONS );
-}
-
- //
- // Å‘å—̈æ(Žè—̈æ)‚Ì’Šo‚ðs‚¤
- //
- // ˆø”:
- // skinImage : ”§F’Šo‰æ‘œ—pIplImage
- // label : ƒ‰ƒxƒŠƒ“ƒO‚µ‚½Œ‹‰Ê
- // convexHullImage : ConvexHull‰æ‘œ—pIplImage
- //
- // –ß‚è’l:
- // Žè—̈æ‚Ì–ÊÏ
- //
-int pickupMaxArea(IplImage *skinImage, IplImage *label, IplImage *convexHullImage ) {
-
- int handarea = 0; // Žè—̈æ‚Ì–ÊÏ
-
- for(int x = 0; x < skinImage->width; x++ ) {
- for( int y=0; y < skinImage->height; y++ ) {
- if( cvGetReal2D( label, y, x ) == 1 ) {
- // Å‘å—̈悾‚Á‚½ê‡
- handarea++;
- cvSet2D( convexHullImage, y, x, CV_RGB( 255, 255, 255 ) );
- } else {
- cvSetReal2D( skinImage, y, x, 0 );
- cvSet2D( convexHullImage, y, x, CV_RGB( 0, 0, 0 ) );
- }
- }
- }
- return handarea;
-}
-
- //
- // ConvexHull‚𶬂·‚é
- //
- // ˆø”:
- // skinImage : ”§F’Šo‰æ‘œ—pIplImage
- // handarea : Žè—̈æ‚Ì–ÊÏ(“_‚Ì”)
- // handpoint : Žè—̈æ“à‚Ì“_‚ÌÀ•W”z—ñ‚ւ̃|ƒCƒ“ƒ^
- // hull : ConvexHull‚Ì’¸“_‚Ìhandpoint‚É‚¨‚¯‚éindex”Ô†‚ւ̃|ƒCƒ“ƒ^
- // pointMatrix : Žè—̈æ—ps—ñ‚ւ̃|ƒCƒ“ƒ^
- // hullMatrix : ConvexHull—ps—ñ‚ւ̃|ƒCƒ“ƒ^
- //
-void createConvexHull(IplImage *skinImage, int handarea, CvPoint **handpoint, int **hull,
- CvMat *pointMatrix, CvMat *hullMatrix ) {
- int i=0;
-
- // ConvexHull‚ðŒvŽZ‚·‚邽‚ß‚É•K—v‚Ès—ñ‚𶬂·‚é
- *handpoint=( CvPoint * )malloc( sizeof( CvPoint ) * handarea );
- *hull = ( int * )malloc( sizeof( int ) * handarea );
- *pointMatrix = cvMat( 1, handarea, CV_32SC2, *handpoint );
- *hullMatrix = cvMat( 1, handarea, CV_32SC1, *hull );
-
- for( int x = 0; x < skinImage->width; x++ ) {
- for( int y = 0; y < skinImage->height; y++ ) {
- if( cvGetReal2D( skinImage, y, x ) == 255 ) {
- ( *handpoint )[i].x = x;
- ( *handpoint )[i].y = y;
- i++;
- }
- }
- }
-
- // ConvexHull‚𶬂·‚é
- cvConvexHull2( pointMatrix, hullMatrix, CV_CLOCKWISE, 0 );
-}
-
- //
- // ConvexHull‚ð•`‰æ‚·‚é
- //
- // ˆø”:
- // convexHullImage : ConvexHull‰æ‘œ—pIplImage
- // handpoint : Žè—̈æ“à‚Ì“_‚ÌÀ•W”z—ñ
- // hull : ConvexHull‚Ì’¸“_‚Ìhandpoint‚É‚¨‚¯‚éindex”Ô†
- // hullcount : ConvexHull‚Ì’¸“_‚Ì”
- //
-void drawConvexHull(IplImage *convexHullImage, CvPoint *handpoint, int *hull, int hullcount ) {
- CvPoint pt0 = handpoint[hull[hullcount-1]];
- for( int i = 0; i < hullcount; i++ ) {
- CvPoint pt = handpoint[hull[i]];
- cvLine( convexHullImage, pt0, pt, CV_RGB( 0, 255, 0 ) );
- pt0 = pt;
- }
-}
-
- //
- // ConvexHull“à‚Ì–ÊÏ‚ð‹‚ß‚é
- //
- // ˆø”:
- // convexHullImage : ConvexHull‰æ‘œ—pIplImage
- // handpoint : Žè—̈æ“à‚Ì“_‚ÌÀ•W”z—ñ
- // hull : ConvexHull‚Ì’¸“_‚Ìhandpoint‚É‚¨‚¯‚éindex”Ô†
- // hullcount : ConvexHull‚Ì’¸“_‚Ì”@@
- //
- // –ß‚è’l:
- // ConvexHull“à‚Ì–ÊÏ
- //
-int calcConvexHullArea( IplImage *convexHullImage, CvPoint *handpoint, int *hull, int hullcount ) {
-
- // ConvexHull‚Ì’¸“_‚©‚ç‚È‚és—ñ‚ð¶¬
- CvPoint *hullpoint = ( CvPoint * )malloc( sizeof( CvPoint ) * hullcount );
- CvMat hMatrix = cvMat( 1, hullcount, CV_32SC2, hullpoint );
- for( int i = 0; i < hullcount; i++ ) {
- hullpoint[i]=handpoint[hull[i]];
- }
-
- // ConvexHull“à‚Ì“_‚Ì”‚𔂦‚é
- int hullarea = 0;
- for( int x = 0; x < convexHullImage->width; x++ ) {
- for( int y = 0;y < convexHullImage->height; y++ ) {
- if( cvPointPolygonTest( &hMatrix, cvPoint2D32f( x, y ), 0 ) > 0) {
- hullarea++;
- }
- }
- }
-
- free( hullpoint );
- return hullarea;
-}
-
- //
- // ƒWƒƒƒ“ƒPƒ“‚Ì”»’è‚ðs‚¤
- //
- // ˆø”:
- // handarea : Žè—̈æ‚Ì–ÊÏ
- // hullarea : ConvexHull“à‚Ì–ÊÏ
- //
-void decide( int handarea, int hullarea ) {
- double ratio; // ConvexHull“à‚Ì–Êςɑ΂·‚éŽè—̈æ‚Ì–ÊÏ‚ÌŠ„‡
-
- ratio=handarea / ( double )hullarea;
- printf( "Ratio = %lf\n", ratio );
-
- if( ratio >= ROCKMIN && ratio <= ROCKMAX ) {
- printf( "ƒO[\n" );
- } else if( ratio >= SCISSORMIN && ratio <= SCISSORMAX ) {
- printf( "ƒ`ƒ‡ƒL\n" );
- } else if( ratio >= PAPERMIN && ratio <= PAPERMAX ) {
- printf( "ƒp[\n" );
- }
-}
-
/*!
* @brief constructor
* @param manager Maneger Object
@@ -262,7 +85,8 @@
// <rtc-template block="initializer">
: RTC::DataFlowComponentBase(manager),
m_img_inputIn("image_input", m_img_input),
- m_img_outputOut("image_output", m_img_output)
+ m_img_outputOut("image_output", m_img_output),
+ m_resultOut("result", m_result)
// </rtc-template>
{
@@ -276,7 +100,6 @@
}
-
RTC::ReturnCode_t RockPaperScissors::onInitialize()
{
// Registration: InPort/OutPort/Service
@@ -286,6 +109,7 @@
// Set OutPort buffer
addOutPort("image_output", m_img_outputOut);
+ addOutPort("result", m_resultOut);
// Set service provider to Ports
@@ -297,8 +121,13 @@
// <rtc-template block="bind_config">
// Bind variables and configuration variable
- bindParameter("image_height", m_img_height, "240");
- bindParameter("image_width", m_img_width, "320");
+ bindParameter("rock_max", m_rock_max, "1.0");
+ bindParameter("rock_min", m_rock_min, "0.85");
+ bindParameter("scissor_max", m_scissor_max, "0.85");
+ bindParameter("scissor_min", m_scissor_min, "0.7");
+ bindParameter("paper_max", m_paper_max, "0.7");
+ bindParameter("paper_min", m_paper_min, "0.5");
+ bindParameter("iterations", m_iterations, "4");
bindParameter("out_mode", m_out_mode, "1");
// </rtc-template>
@@ -330,13 +159,14 @@
RTC::ReturnCode_t RockPaperScissors::onActivated(RTC::UniqueId ec_id)
{
- m_image_buff = NULL; // “ü—ÍImage
- m_hsv_buff = NULL; // HSV—p
- m_convexHull_buff = NULL; // ConvexHull—p
- m_skin_buff = NULL; // ”§F’Šo—p
- m_temp_buff = NULL; // ˆêŽž•Û‘¶—p
- m_label_buff = NULL; // ƒ‰ƒxƒ‹Œ‹‰Ê•Û‘¶—p
- m_output_buff = NULL; // o—Í—p
+ m_image_buff = NULL; // 入力Image
+ m_hsv_buff = NULL; // HSV用
+ m_convexHull_buff = NULL; // ConvexHull用
+ m_skin_buff = NULL; // 肌色抽出用
+ m_temp_buff = NULL; // 一時ä¿å˜ç”¨
+ m_label_buff = NULL; // ラベルçµæžœä¿å˜ç”¨
+ m_output_buff = NULL; // 出力用
+ m_prev_judge = ""; // 未判定
return RTC::RTC_OK;
}
@@ -372,68 +202,66 @@
RTC::ReturnCode_t RockPaperScissors::onExecute(RTC::UniqueId ec_id)
{
- int key;
-
- //Vƒf[ƒ^‚̃`ƒFƒbƒN
+ //新データã®ãƒã‚§ãƒƒã‚¯
if(m_img_inputIn.isNew()){
- //ƒf[ƒ^‚Ì“Ç‚Ýž‚Ý
+ //データã®èªã¿è¾¼ã¿
m_img_inputIn.read();
- m_image_buff = cvCreateImage(cvSize(m_img_input.width, m_img_input.height), IPL_DEPTH_8U, 3); // “ü—ÍImage
- m_hsv_buff = cvCreateImage(cvSize(m_img_input.width, m_img_input.height), IPL_DEPTH_8U, 3); // HSV—p
- m_convexHull_buff = cvCreateImage(cvSize(m_img_input.width, m_img_input.height), IPL_DEPTH_8U, 3); // ConvexHull—p
- m_skin_buff = cvCreateImage(cvSize(m_img_input.width, m_img_input.height), IPL_DEPTH_8U, 1); // ”§F’Šo—p
- m_temp_buff = cvCreateImage(cvSize(m_img_input.width, m_img_input.height), IPL_DEPTH_8U, 1); // ˆêŽž•Û‘¶—p
- m_label_buff = cvCreateImage(cvSize(m_img_input.width, m_img_input.height), IPL_DEPTH_16S, 1); // ƒ‰ƒxƒ‹Œ‹‰Ê•Û‘¶—p
- m_output_buff = cvCreateImage(cvSize(m_img_input.width, m_img_input.height), IPL_DEPTH_8U, 3); // o—Í—p
+ m_image_buff = cvCreateImage(cvSize(m_img_input.width, m_img_input.height), IPL_DEPTH_8U, 3); // 入力Image
+ m_hsv_buff = cvCreateImage(cvSize(m_img_input.width, m_img_input.height), IPL_DEPTH_8U, 3); // HSV用
+ m_convexHull_buff = cvCreateImage(cvSize(m_img_input.width, m_img_input.height), IPL_DEPTH_8U, 3); // ConvexHull用
+ m_skin_buff = cvCreateImage(cvSize(m_img_input.width, m_img_input.height), IPL_DEPTH_8U, 1); // 肌色抽出用
+ m_temp_buff = cvCreateImage(cvSize(m_img_input.width, m_img_input.height), IPL_DEPTH_8U, 1); // 一時ä¿å˜ç”¨
+ m_label_buff = cvCreateImage(cvSize(m_img_input.width, m_img_input.height), IPL_DEPTH_16S, 1); // ラベルçµæžœä¿å˜ç”¨
+ m_output_buff = cvCreateImage(cvSize(m_img_input.width, m_img_input.height), IPL_DEPTH_8U, 3); // 出力用
- //InPort‚̉f‘œ‚̎擾
+ //InPortã®æ˜ åƒã®å–å¾—
memcpy(m_image_buff->imageData,(void *)&(m_img_input.pixels[0]),m_img_input.pixels.length());
- // ”§F‚ð’Šo‚·‚éB
- extractSkinColor( m_image_buff, m_hsv_buff, m_skin_buff);
+ // 肌色を抽出ã™ã‚‹ã€‚
+ extractSkinColor();
- // Œ‡‘¹—̈æ‚ð•âŠÔ‚·‚é
- interpolate( m_skin_buff, m_temp_buff );
+ // æ¬ æé ˜åŸŸã‚’è£œé–“ã™ã‚‹
+ interpolate();
- // ƒ‰ƒxƒŠƒ“ƒO‚ðs‚¤
+ // ラベリングを行ã†
Label *labeling = createLabeling();
exec( labeling, m_skin_buff, m_label_buff, true, IGNORE_SIZE );
if(getNumOfResultRegions( labeling ) > 0 ) {
- // IGNORE_SIZE‚æ‚è‚à‘å‚«‚ȗ̈悪‚ ‚Á‚½ê‡
- int handarea; // Žè—̈æ‚Ì–ÊÏ
- int hullarea; // ConvexHull“à‚Ì–ÊÏ
- int hullcount; // ConvexHull‚Ì’¸“_‚Ì”
- CvPoint *handpoint; // Žè—̈æ“à‚Ì“_‚ÌÀ•W”z—ñ
- int *hull; // ConvexHull‚Ì’¸“_‚Ìhandpoint‚É‚¨‚¯‚éindex”Ô†
- CvMat pointMatrix; // Žè—̈æ—ps—ñ
- CvMat hullMatrix; // ConvexHull—ps—ñ
+ // IGNORE_SIZEよりも大ããªé ˜åŸŸãŒã‚ã£ãŸå ´åˆ
+ int handarea; // æ‰‹é ˜åŸŸã®é¢ç©
+ int hullarea; // ConvexHull内ã®é¢ç©
+ int hullcount; // ConvexHullã®é ‚点ã®æ•°
+ CvPoint *handpoint; // æ‰‹é ˜åŸŸå†…ã®ç‚¹ã®åº§æ¨™é…列
+ int *hull; // ConvexHullã®é ‚点ã®handpointã«ãŠã‘ã‚‹index番å·
+ CvMat pointMatrix; // æ‰‹é ˜åŸŸç”¨è¡Œåˆ—
+ CvMat hullMatrix; // ConvexHull用行列
- // Å‘å—̈æ(Žè—̈æ)‚Ì’Šo‚ðs‚¤
- handarea = pickupMaxArea( m_skin_buff, m_label_buff, m_convexHull_buff );
+ // æœ€å¤§é ˜åŸŸ(æ‰‹é ˜åŸŸ)ã®æŠ½å‡ºã‚’è¡Œã†
+ handarea = pickupMaxArea();
- // ConvexHull‚𶬂·‚é
- createConvexHull( m_skin_buff, handarea, &handpoint, &hull, &pointMatrix, &hullMatrix );
+ // ConvexHullを生æˆã™ã‚‹
+ createConvexHull( handarea, &handpoint, &hull, &pointMatrix, &hullMatrix );
hullcount = hullMatrix.cols;
- // ConvexHull‚ð•`‰æ‚·‚é
- drawConvexHull( m_convexHull_buff, handpoint, hull, hullcount );
+ // ConvexHullã‚’æç”»ã™ã‚‹
+ drawConvexHull( handpoint, hull, hullcount );
- // ConvexHull“à‚Ì–ÊÏ‚ð‹‚ß‚é
- hullarea = calcConvexHullArea( m_convexHull_buff, handpoint,hull, hullcount );
+ // ConvexHull内ã®é¢ç©ã‚’求ã‚ã‚‹
+ hullarea = calcConvexHullArea( handpoint,hull, hullcount );
- // ƒWƒƒƒ“ƒPƒ“‚Ì”»’è‚ðs‚¤
+ // ジャンケンã®åˆ¤å®šã‚’è¡Œã†
decide( handarea, hullarea );
- // ƒƒ‚ƒŠ‚ð‰ð•ú‚·‚é
+ // メモリを解放ã™ã‚‹
free( handpoint );
free( hull );
-
+
} else {
- // ‰æ‘œ‚ð‰Šú‰»‚·‚é
+ // ç”»åƒã‚’åˆæœŸåŒ–ã™ã‚‹
cvSetZero( m_convexHull_buff );
}
@@ -441,23 +269,23 @@
releaseLabeling( labeling );
if ( m_skin_buff->origin == 0 ) {
- //@¶ã‚ªŒ´“_‚Ìê‡
+ //　左上ãŒåŽŸç‚¹ã®å ´åˆ
cvFlip( m_skin_buff, m_skin_buff, 0 );
}
if ( m_convexHull_buff->origin == 0 ) {
- //@¶ã‚ªŒ´“_‚Ìê‡
+ //　左上ãŒåŽŸç‚¹ã®å ´åˆ
cvFlip( m_convexHull_buff, m_convexHull_buff, 0 );
}
- // ‰æ‘œƒf[ƒ^‚̃TƒCƒYŽæ“¾
+ // ç”»åƒãƒ‡ãƒ¼ã‚¿ã®ã‚µã‚¤ã‚ºå–å¾—
double len = (m_output_buff->nChannels * m_output_buff->width * m_output_buff->height);
m_img_output.pixels.length(len);
- // ŠY“–‚̃Cƒ[ƒW‚ðMemCopy‚·‚é
+ // 該当ã®ã‚¤ãƒ¡ãƒ¼ã‚¸ã‚’MemCopyã™ã‚‹
memcpy((void *)&(m_img_output.pixels[0]), m_convexHull_buff->imageData, len);
- // ”½“]‚µ‚½‰æ‘œƒf[ƒ^‚ðOutPort‚©‚ço—Í‚·‚éB
+ // å転ã—ãŸç”»åƒãƒ‡ãƒ¼ã‚¿ã‚’OutPortã‹ã‚‰å‡ºåŠ›ã™ã‚‹ã€‚
m_img_output.width = m_image_buff->width;
m_img_output.height = m_image_buff->height;
@@ -511,8 +339,220 @@
}
*/
+//
+// 肌色を抽出ã™ã‚‹
+//
+void RockPaperScissors::extractSkinColor( void )
+{
+ CvScalar color; // HSV表色系ã§è¡¨ã—ãŸè‰²
+ unsigned char h; // Hæˆåˆ†
+ unsigned char s; // Sæˆåˆ†
+ unsigned char v; // Væˆåˆ†
+
+ // BGRã‹ã‚‰HSVã«å¤‰æ›ã™ã‚‹
+
+ cvCvtColor( m_image_buff, m_hsv_buff, CV_BGR2HSV );
+
+ //肌色抽出
+ for( int x = 0; x < m_skin_buff->width; x++ ) {
+ for( int y = 0 ; y < m_skin_buff->height; y++ ) {
+ color = cvGet2D( m_hsv_buff, y, x );
+ h = color.val[0];
+ s = color.val[1];
+ v = color.val[2];
+ if( h <= HMAX && h >= HMIN &&
+ s <= SMAX && s >= SMIN &&
+ v <= VMAX && v >= VMIN ) {
+ // 肌色ã®å ´åˆ
+ cvSetReal2D( m_skin_buff, y, x, 255 );
+ } else {
+ cvSetReal2D( m_skin_buff, y, x, 0 );
+ }
+ }
+
+ }
+}
+
+//
+// æ¬ æé ˜åŸŸã‚’è£œé–“ã™ã‚‹
+//
+void RockPaperScissors::interpolate( void )
+{
+ //膨張をITERATIONS回行ã†
+ cvDilate( m_skin_buff, m_temp_buff, NULL, m_iterations );
+
+ //åŽç¸®ã‚’ITERATIONS回行ã†
+ cvErode( m_temp_buff, m_skin_buff, NULL, m_iterations );
+}
+
+//
+// æœ€å¤§é ˜åŸŸ(æ‰‹é ˜åŸŸ)ã®æŠ½å‡ºã‚’è¡Œã†
+//
+// 戻り値:
+// æ‰‹é ˜åŸŸã®é¢ç©
+//
+int RockPaperScissors::pickupMaxArea( void )
+{
+ int handarea = 0; // æ‰‹é ˜åŸŸã®é¢ç©
+
+ for(int x = 0; x < m_skin_buff->width; x++ ) {
+ for( int y=0; y < m_skin_buff->height; y++ ) {
+ if( cvGetReal2D( m_label_buff, y, x ) == 1 ) {
+ // æœ€å¤§é ˜åŸŸã ã£ãŸå ´åˆ
+ handarea++;
+ cvSet2D( m_convexHull_buff, y, x, CV_RGB( 255, 255, 255 ) );
+ } else {
+ cvSetReal2D( m_skin_buff, y, x, 0 );
+ cvSet2D( m_convexHull_buff, y, x, CV_RGB( 0, 0, 0 ) );
+ }
+ }
+ }
+ return handarea;
+}
+
+//
+// ConvexHullを生æˆã™ã‚‹
+//
+// 引数:
+// handarea : æ‰‹é ˜åŸŸã®é¢ç©(点ã®æ•°)
+// handpoint : æ‰‹é ˜åŸŸå†…ã®ç‚¹ã®åº§æ¨™é…列ã¸ã®ãƒã‚¤ãƒ³ã‚¿
+// hull : ConvexHullã®é ‚点ã®handpointã«ãŠã‘ã‚‹index番å·ã¸ã®ãƒã‚¤ãƒ³ã‚¿
+// pointMatrix : æ‰‹é ˜åŸŸç”¨è¡Œåˆ—ã¸ã®ãƒã‚¤ãƒ³ã‚¿
+// hullMatrix : ConvexHull用行列ã¸ã®ãƒã‚¤ãƒ³ã‚¿
+//
+void RockPaperScissors::createConvexHull( int handarea, CvPoint **handpoint, int **hull,
+ CvMat *pointMatrix, CvMat *hullMatrix )
+{
+ int i=0;
+
+ // ConvexHullを計算ã™ã‚‹ãŸã‚ã«å¿…è¦ãªè¡Œåˆ—を生æˆã™ã‚‹
+ *handpoint=( CvPoint * )malloc( sizeof( CvPoint ) * handarea );
+ *hull = ( int * )malloc( sizeof( int ) * handarea );
+ *pointMatrix = cvMat( 1, handarea, CV_32SC2, *handpoint );
+ *hullMatrix = cvMat( 1, handarea, CV_32SC1, *hull );
+
+ for( int x = 0; x < m_skin_buff->width; x++ ) {
+ for( int y = 0; y < m_skin_buff->height; y++ ) {
+ if( cvGetReal2D( m_skin_buff, y, x ) == 255 ) {
+ ( *handpoint )[i].x = x;
+ ( *handpoint )[i].y = y;
+ i++;
+ }
+ }
+ }
+
+ // ConvexHullを生æˆã™ã‚‹
+ cvConvexHull2( pointMatrix, hullMatrix, CV_CLOCKWISE, 0 );
+}
+
+//
+// ConvexHullã‚’æç”»ã™ã‚‹
+//
+// 引数:
+// handpoint : æ‰‹é ˜åŸŸå†…ã®ç‚¹ã®åº§æ¨™é…列
+// hull : ConvexHullã®é ‚点ã®handpointã«ãŠã‘ã‚‹index番å·
+// hullcount : ConvexHullã®é ‚点ã®æ•°
+//
+void RockPaperScissors::drawConvexHull( CvPoint *handpoint, int *hull, int hullcount )
+{
+ CvPoint pt0 = handpoint[hull[hullcount-1]];
+ for( int i = 0; i < hullcount; i++ ) {
+ CvPoint pt = handpoint[hull[i]];
+ cvLine( m_convexHull_buff, pt0, pt, CV_RGB( 0, 255, 0 ) );
+ pt0 = pt;
+ }
+}
+
+//
+// ConvexHull内ã®é¢ç©ã‚’求ã‚ã‚‹
+//
+// 引数:
+// handpoint : æ‰‹é ˜åŸŸå†…ã®ç‚¹ã®åº§æ¨™é…列
+// hull : ConvexHullã®é ‚点ã®handpointã«ãŠã‘ã‚‹index番å·
+// hullcount : ConvexHullã®é ‚点ã®æ•°ã€€ã€€
+//
+// 戻り値:
+// ConvexHull内ã®é¢ç©
+//
+int RockPaperScissors::calcConvexHullArea( CvPoint *handpoint, int *hull, int hullcount )
+{
+ // ConvexHullã®é ‚点ã‹ã‚‰ãªã‚‹è¡Œåˆ—を生æˆ
+ CvPoint *hullpoint = ( CvPoint * )malloc( sizeof( CvPoint ) * hullcount );
+
+ CvMat hMatrix = cvMat( 1, hullcount, CV_32SC2, hullpoint );
+ for( int i = 0; i < hullcount; i++ ) {
+ hullpoint[i]=handpoint[hull[i]];
+ }
+
+ // ConvexHull内ã®ç‚¹ã®æ•°ã‚’æ•°ãˆã‚‹
+ int hullarea = 0;
+ for( int x = 0; x < m_convexHull_buff->width; x++ ) {
+ for( int y = 0;y < m_convexHull_buff->height; y++ ) {
+
+ if( cvPointPolygonTest( &hMatrix, cvPoint2D32f( x, y ), 0 ) > 0) {
+ hullarea++;
+ }
+ }
+ }
+
+ free( hullpoint );
+ return hullarea;
+}
+
+
+//
+// ジャンケンã®åˆ¤å®šã‚’è¡Œã†
+//
+// 引数:
+// handarea : æ‰‹é ˜åŸŸã®é¢ç©
+// hullarea : ConvexHull内ã®é¢ç©
+//
+void RockPaperScissors::decide( int handarea, int hullarea )
+{
+ double ratio; // ConvexHull内ã®é¢ç©ã«å¯¾ã™ã‚‹æ‰‹é ˜åŸŸã®é¢ç©ã®å‰²åˆ
+ string judge = "閾値外";
+
+ ratio=handarea / ( double )hullarea;
+
+ if( ratio >= m_rock_min && ratio <= m_rock_max ) {
+ judge = "グー";
+ }
+ else if( ratio >= m_scissor_min && ratio <= m_scissor_max )
+ {
+ judge = "ãƒãƒ§ã‚";
+ }
+ else if( ratio >= m_paper_min && ratio <= m_paper_max )
+ {
+ judge = "パー";
+ }
+
+ if( m_out_mode == 1 )
+ {
+ //å‰å›žã¨ã‚¸ãƒ£ãƒ³ã‚±ãƒ³ã®ç¨®é¡žãŒç•°ãªã‚‹å ´åˆã®ã¿å‡ºåŠ›ã™ã‚‹
+ //ConvexHullé ˜åŸŸã¯ä¸€å®šä»¥ä¸Šã®å¤§ãã•ã§ãªã„ã¨ã€ã‚¸ãƒ£ãƒ³ã‚±ãƒ³ã®åˆ¤å®šã¯æ„味ãŒãªã„
+ //ã“ã“ã§ã¯æš«å®šçš„ã«10000以上ã®é ˜åŸŸã«å¯¾ã—ã¦ã‚¸ãƒ£ãƒ³ã‚±ãƒ³ã‚’判定ã™ã‚‹ã‚‚ã®ã¨ã™ã‚‹
+ if( judge != "閾値外" && m_prev_judge != judge && hullarea >= 10000 )
+ {
+ //printf( "Ratio = %lf\n", ratio );
+ printf( "Ratio = %lf : åˆ¤å®šé ˜åŸŸã®å¤§ãã• = %d\n", ratio, hullarea );
+ printf( "%s\n", judge.c_str() );
+ m_prev_judge = judge;
+
+ m_result.data = judge.c_str();
+ m_resultOut.write();
+ }
+ }
+ else
+ {
+ //ã™ã¹ã¦ã®çµæžœã‚’出力ã™ã‚‹
+ printf( "Ratio = %lf : åˆ¤å®šé ˜åŸŸã®å¤§ãã• = %d\n", ratio, hullarea );
+ printf( "%s\n", judge.c_str() );
+ }
+}
+
+
extern "C"
{
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